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Expand hardware drivers to 64 bits (address issue #2331) #3932

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52c7fb8
Expand hardware drivers to 64 bits (address issue #2331)
andypugh Nov 27, 2025
8893513
Fix merge coommit oversight
andypugh Apr 12, 2026
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1 change: 0 additions & 1 deletion debian/copyright
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Expand Up @@ -247,7 +247,6 @@ Files:
src/hal/drivers/hal_speaker.c
src/hal/drivers/hal_stg.c
src/hal/drivers/hal_stg.h
src/hal/drivers/hal_tiro.c
src/hal/drivers/hal_vti.c
src/hal/drivers/hal_vti.h
src/hal/drivers/motenc.h
Expand Down
3 changes: 0 additions & 3 deletions src/Makefile
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Expand Up @@ -931,8 +931,6 @@ endif
ifneq ($(BUILD_SYS),uspace)
obj-$(CONFIG_PCI_8255) += pci_8255.o
pci_8255-objs := hal/drivers/pci_8255.o
obj-$(CONFIG_HAL_TIRO) += hal_tiro.o
hal_tiro-objs := hal/drivers/hal_tiro.o $(MATHSTUB)
obj-$(CONFIG_HAL_STG) += hal_stg.o
hal_stg-objs := hal/drivers/hal_stg.o $(MATHSTUB)
obj-$(CONFIG_HAL_VTI) += hal_vti.o
Expand Down Expand Up @@ -1331,7 +1329,6 @@ endif
#../rtlib/uparport$(MODULE_EXT): $(addprefix objects/rt,$(uparport-objs))
ifneq ($(BUILD_SYS),uspace)
../rtlib/pci_8255$(MODULE_EXT): $(addprefix objects/rt,$(pci_8255-objs))
../rtlib/hal_tiro$(MODULE_EXT): $(addprefix objects/rt,$(hal_tiro-objs))
../rtlib/hal_stg$(MODULE_EXT): $(addprefix objects/rt,$(hal_stg-objs))
../rtlib/hal_vti$(MODULE_EXT): $(addprefix objects/rt,$(hal_vti-objs))
../rtlib/hal_evoreg$(MODULE_EXT): $(addprefix objects/rt,$(hal_evoreg-objs))
Expand Down
1 change: 0 additions & 1 deletion src/Makefile.inc.in
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Expand Up @@ -208,7 +208,6 @@ CONFIG_SAMPLER=m
CONFIG_UPARPORT=m
CONFIG_HAL_PARPORT=m
CONFIG_PROBE_PARPORT=m
CONFIG_HAL_TIRO=m
CONFIG_HAL_EVOREG=m
CONFIG_HAL_MOTENC=m
CONFIG_HAL_SKELETON=m
Expand Down
4 changes: 2 additions & 2 deletions src/hal/drivers/hal_evoreg.c
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Expand Up @@ -103,7 +103,7 @@ typedef struct {
hal_bit_t *digital_in[47]; /* ptrs for digital input pins 0 - 45 */
hal_bit_t *digital_out[25]; /* ptrs for digital output pins 0 - 20 */
__u16 raw_counts_old[3];
__s32 counts[3];
__s64 counts[3];
hal_float_t pos_scale; /*! \todo scale for position command FIXME should be one per axis */
} evoreg_t;

Expand Down Expand Up @@ -293,7 +293,7 @@ static void update_port(void *arg, long period)
writew((*(port->dac_out[1])/10 * 0x7fff), (char *)port->io_base + 0x80);
writew((*(port->dac_out[2])/10 * 0x7fff), (char *)port->io_base + 0xa0);

/* Read Encoders, improve the 16bit hardware counters to 32bit and scale the values */
/* Read Encoders, improve the 16bit hardware counters to 64bit and scale the values */
raw_counts[0] = (__u16) readw(port->io_base);
raw_counts[1] = (__u16) readw((char *)port->io_base + 0x08 );
raw_counts[2] = (__u16) readw((char *)port->io_base + 0x10 );
Expand Down
34 changes: 21 additions & 13 deletions src/hal/drivers/hal_gm.c
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Expand Up @@ -3,6 +3,7 @@

#include <rtapi.h> // RTAPI realtime OS API
#include <rtapi_app.h> // RTAPI realtime module decls
#include <rtapi_stdint.h> // portable ints
#include <hal.h> // HAL public API decls
#include "gm.h" // Hardware dependent defines
#include <rtapi_math.h>
Expand All @@ -16,9 +17,11 @@ typedef struct { //encoder_t
// Pins
hal_bit_t *reset;
hal_s32_t *counts;
hal_s64_t *counts64;
hal_float_t *position;
hal_float_t *velocity;
hal_s32_t *rawcounts;
hal_s64_t *rawcounts64;
hal_bit_t *index_enable;

// Parameters
Expand All @@ -30,11 +33,11 @@ typedef struct { //encoder_t
hal_float_t min_speed_estimate;

// Private data
hal_s32_t raw_offset;
hal_s32_t index_offset;
hal_s32_t last_index_latch;
rtapi_s64 index_offset;
rtapi_s64 last_index_latch;
hal_bit_t first_index;
hal_bit_t module_exist;
rtapi_s32 old_counts;
} encoder_t;

typedef struct { //switches_t
Expand Down Expand Up @@ -239,27 +242,27 @@ typedef struct { //stepgen_t
hal_float_t *position_cmd;
hal_float_t *velocity_cmd;
hal_float_t *position_fb;
hal_s32_t *count_fb;
hal_s64_t *count_fb;
hal_bit_t *enable;

// Parameters
hal_u32_t step_type; //0: StepDir, 1: UpDown, 2: Quadrature
hal_bit_t control_type; //0: position, 1: velocity
hal_bit_t control_type; //0: position, 1: velocity
hal_u32_t steplen;
hal_u32_t stepspace;
hal_u32_t dirdelay;
hal_float_t maxaccel;
hal_float_t maxvel;
hal_bit_t polarity_A;
hal_bit_t polarity_B;
hal_bit_t polarity_B;
hal_float_t position_scale;

//Saved Parameters
hal_u32_t curr_steplen;
hal_u32_t curr_stepspace;
hal_u32_t curr_dirdelay;
hal_float_t curr_maxaccel;
hal_float_t curr_maxvel;
hal_float_t curr_maxvel;
hal_float_t curr_position_scale;

// Private data
Expand Down Expand Up @@ -623,9 +626,11 @@ ExportEncoder(void *arg, int comp_id, int version)
//Export Pins
if(error == 0) error = hal_pin_bit_newf(HAL_IN, &(device->encoder[i].reset), comp_id, "gm.%1d.encoder.%1d.reset", boardId, i);
if(error == 0) error = hal_pin_s32_newf(HAL_OUT, &(device->encoder[i].counts), comp_id, "gm.%1d.encoder.%1d.counts", boardId, i);
if(error == 0) error = hal_pin_s64_newf(HAL_OUT, &(device->encoder[i].counts64), comp_id, "gm.%1d.encoder.%1d.counts64", boardId, i);
if(error == 0) error = hal_pin_float_newf(HAL_OUT, &(device->encoder[i].position), comp_id, "gm.%1d.encoder.%1d.position", boardId, i);
if(error == 0) error = hal_pin_float_newf(HAL_OUT, &(device->encoder[i].velocity), comp_id, "gm.%1d.encoder.%1d.velocity", boardId, i);
if(error == 0) error = hal_pin_s32_newf(HAL_OUT, &(device->encoder[i].rawcounts), comp_id, "gm.%1d.encoder.%1d.rawcounts", boardId, i);
if(error == 0) error = hal_pin_s64_newf(HAL_OUT, &(device->encoder[i].rawcounts64), comp_id, "gm.%1d.encoder.%1d.rawcounts", boardId, i);
if(error == 0) error = hal_pin_bit_newf(HAL_IO, &(device->encoder[i].index_enable), comp_id, "gm.%1d.encoder.%1d.index-enable", boardId, i);

//Export Parameters
Expand All @@ -637,7 +642,7 @@ ExportEncoder(void *arg, int comp_id, int version)
if(error == 0) error = hal_param_float_newf(HAL_RW, &(device->encoder[i].min_speed_estimate), comp_id, "gm.%1d.encoder.%1d.min-speed-estimate", boardId, i);

//Init parameters
device->encoder[i].raw_offset = pCard->ENC_counter[i];
device->encoder[i].old_counts = pCard->ENC_counter[i];
device->encoder[i].index_offset = 0;
device->encoder[i].last_index_latch = pCard->ENC_index_latch[i];
device->encoder[i].first_index = 1;
Expand Down Expand Up @@ -679,7 +684,7 @@ ExportStepgen(void *arg, int comp_id, int version)
if(error == 0) error = hal_pin_float_newf(HAL_IN, &(device->stepgen[i].position_cmd), comp_id, "gm.%1d.stepgen.%1d.position-cmd", boardId, i);
if(error == 0) error = hal_pin_float_newf(HAL_OUT, &(device->stepgen[i].position_fb), comp_id, "gm.%1d.stepgen.%1d.position-fb", boardId, i);
if(error == 0) error = hal_pin_float_newf(HAL_IN, &(device->stepgen[i].velocity_cmd), comp_id, "gm.%1d.stepgen.%1d.velocity-cmd", boardId, i);
if(error == 0) error = hal_pin_s32_newf(HAL_OUT, &(device->stepgen[i].count_fb), comp_id, "gm.%1d.stepgen.%1d.count-fb", boardId, i);
if(error == 0) error = hal_pin_s64_newf(HAL_OUT, &(device->stepgen[i].count_fb), comp_id, "gm.%1d.stepgen.%1d.count-fb", boardId, i);
if(error == 0) error = hal_pin_bit_newf(HAL_IN, &(device->stepgen[i].enable), comp_id, "gm.%1d.stepgen.%1d.enable", boardId, i);

//Export Parameters.
Expand Down Expand Up @@ -1472,7 +1477,7 @@ encoder(void *arg, long period)
card *pCard = device->pCard;

int i;
hal_s32_t temp1 = 0, temp2;
rtapi_s32 temp1 = 0, temp2, delta_counts;
hal_float_t vel;
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@BsAtHome BsAtHome Apr 12, 2026

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Local variables must not use HAL types.


//Update parameters
Expand Down Expand Up @@ -1529,12 +1534,15 @@ encoder(void *arg, long period)
}
}
device->encoder[i].last_index_latch = temp2;

*(device->encoder[i].rawcounts) = temp1 - device->encoder[i].raw_offset;
delta_counts = temp1 - device->encoder[i].old_counts;
device->encoder[i].old_counts = temp1;
*(device->encoder[i].rawcounts) += delta_counts;
*(device->encoder[i].rawcounts64) += delta_counts;
Comment on lines +1537 to +1540
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@BsAtHome BsAtHome Apr 12, 2026

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This looks fine. You do:

s32_deltacount = s32_counter - s32_saved_counter;
s32_saved_counter = s32_counter;
s64 += s32_deltacount;

I assume that the s32_counter is two-s complement. However, it should also work for an unsigned counter because the deltacount should always be result in correct two's complement.

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@BsAtHome BsAtHome Apr 12, 2026

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The only assumption is that you cannot wrap a 32-bit counter in one servo period. But I guess we should be save there?

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@andypugh andypugh Apr 13, 2026

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I think so. The Mesa counters max out at 20MHz, the internet suggests that 500MHz is possible.
Wrapping 32 bits in 1ms is a few Teraherz.

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@BsAtHome BsAtHome Apr 13, 2026

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At 500MHz you have a comfortable 8.5 seconds before you wrap :-)

*(device->encoder[i].counts) = *(device->encoder[i].rawcounts) - device->encoder[i].index_offset;
*(device->encoder[i].counts64) = *(device->encoder[i].rawcounts64) - device->encoder[i].index_offset;

if((device->encoder[i].position_scale < 0.000001) && (device->encoder[i].position_scale > -0.000001)) device->encoder[i].position_scale = 1; //Don't like to divide by 0
*(device->encoder[i].position) = (hal_float_t) *(device->encoder[i].counts) / device->encoder[i].position_scale;
*(device->encoder[i].position) = (hal_float_t) *(device->encoder[i].counts64) / device->encoder[i].position_scale;

vel = (hal_float_t) pCard->ENC_period[i];
if(vel == 0) vel = 1;
Expand Down
15 changes: 14 additions & 1 deletion src/hal/drivers/hal_motenc.c
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Expand Up @@ -25,6 +25,7 @@
*
* Pins:
* s32 motenc.<boardId>.enc-<channel>-count
* s64 motenc.<boardId>.enc-<channel>-count64
* float motenc.<boardId>.enc-<channel>-position
* bit motenc.<boardId>.enc-<channel>-index
* bit motenc.<boardId>.enc-<channel>-index-enable
Expand Down Expand Up @@ -126,6 +127,7 @@

#include <rtapi.h> // RTAPI realtime OS API.
#include <rtapi_app.h> // RTAPI realtime module decls.
#include <rtapi_stdint.h> // portable ints
#include <hal.h> // HAL public API decls.
#include "motenc.h" // Hardware dependent defines.

Expand All @@ -146,6 +148,7 @@ MODULE_LICENSE("GPL");

typedef struct {
// Pins.
hal_s64_t *pCount64;
hal_s32_t *pCount; // Captured binary count value.
hal_float_t *pPosition; // Scaled position (floating point).
hal_bit_t *pIndex; // Current state of index.
Expand All @@ -161,6 +164,7 @@ typedef struct {
// Private data.
double oldScale; // Stored scale value.
double scaleRecip; // Reciprocal value used for scaling.
rtapi_s32 pCount_old; // Previous counts, for bit width extending
} EncoderPinsParams;

typedef struct {
Expand Down Expand Up @@ -494,6 +498,10 @@ Device_ExportEncoderPinsParametersFunctions(Device *this, int componentId, int b
componentId, "motenc.%d.enc-%02d-count", boardId, channel)) != 0)
break;

if((halError = hal_pin_s64_newf(HAL_OUT, &(this->encoder[channel].pCount64),
componentId, "motenc.%d.enc-%02d-count64", boardId, channel)) != 0)
break;

if((halError = hal_pin_float_newf(HAL_OUT, &(this->encoder[channel].pPosition),
componentId, "motenc.%d.enc-%02d-position", boardId, channel)) != 0)
break;
Expand All @@ -517,6 +525,8 @@ Device_ExportEncoderPinsParametersFunctions(Device *this, int componentId, int b

// Init encoder.
*(this->encoder[channel].pCount) = 0;
*(this->encoder[channel].pCount64) = 0;
this->encoder[channel].pCount_old = 0;
*(this->encoder[channel].pPosition) = 0.0;
*(this->encoder[channel].pIndex) = 0;
*(this->encoder[channel].pIndexEnable) = 0;
Expand Down Expand Up @@ -794,6 +804,9 @@ Device_EncoderRead(void *arg, long period)

// Read encoder counts.
*(pEncoder->pCount) = pCard->fpga[i].encoderCount[j];
// Extend counts to 64 bits
*(pEncoder->pCount64) += *(pEncoder->pCount) - pEncoder->pCount_old;
pEncoder->pCount_old = *(pEncoder->pCount);

// Check for change in scale value.
if ( pEncoder->scale != pEncoder->oldScale ) {
Expand All @@ -811,7 +824,7 @@ Device_EncoderRead(void *arg, long period)
}

// Scale count to make floating point position.
*(pEncoder->pPosition) = *(pEncoder->pCount) * pEncoder->scaleRecip;
*(pEncoder->pPosition) = *(pEncoder->pCount64) * pEncoder->scaleRecip;
}
}
}
Expand Down
16 changes: 9 additions & 7 deletions src/hal/drivers/hal_ppmc.c
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Expand Up @@ -75,6 +75,7 @@
#include <rtapi_io.h> /* kmalloc() */
#include <rtapi.h> /* RTAPI realtime OS API */
#include <rtapi_app.h> /* RTAPI realtime module decls */
#include <rtapi_stdint.h> // portable ints
#include <hal.h> /* HAL public API decls */
#include <rtapi_parport.h>

Expand Down Expand Up @@ -293,12 +294,13 @@ typedef union {
typedef struct {
hal_float_t *position; /* output: scaled position pointer */
hal_s32_t *count; /* output: unscaled encoder counts */
hal_s64_t *count64; /* 64 bit version to avoid wrapping */
hal_s32_t *delta; /* output: delta counts since last read */
hal_s32_t prevdir; /* local: previous direction */
hal_float_t scale; /* parameter: scale factor */
hal_bit_t *index; /* output: index flag */
hal_bit_t *index_enable; /* enable index pulse to reset encoder count */
hal_s32_t oldreading; /* used to detect overflow / underflow of the counter JE001 */
rtapi_s64 oldreading; /* used to detect overflow / underflow of the counter JE001 AP001*/
unsigned int indres; /* copy of reset-on-index register bits (only valid on 1st encoder of board)*/
unsigned int indrescnt; /* counts servo cycles since index reset was turned on */
hal_float_t *vel; /* output: scaled velocity */
Expand Down Expand Up @@ -1076,7 +1078,7 @@ static void read_encoders(slot_data_t *slot)
int i, byteindex, byteindx2;
double vel; // local temporary velocity
union pos_tag {
hal_s32_t l; // JE001
rtapi_s64 l; // JE001 AP001
struct byte_tag {
signed char b0;
signed char b1;
Expand Down Expand Up @@ -1106,16 +1108,16 @@ static void read_encoders(slot_data_t *slot)
for (i = 0; i < 4; i++) {
slot->encoder[i].indrescnt++; /* increment counter each servo cycle */
oldpos.l = slot->encoder[i].oldreading;
pos.l = *(slot->encoder[i].count); // init the higher-order bytes
pos.byte.b0 = (signed char)slot->rd_buf[byteindex++];
pos.byte.b1 = (signed char)slot->rd_buf[byteindex++];
pos.byte.b2 = (signed char)slot->rd_buf[byteindex++];
Comment on lines 1112 to 1114
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@BsAtHome BsAtHome Apr 13, 2026

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You are reading a value from a stream. The better method is to shift the value in byte-by-byte into the larger type instead of using a unonized type.

If the value you stream-read is a two's complement value, then there is a second advantage. You can do proper sign extension in one go by casting the MSB to a signed char and then to the signed larger type. Shifting left will preserve the sign.

pos.byte.b3 = oldpos.byte.b3;
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Deletion of b3 leaves it undefined and at a random value.

/* check for - to + transition */
if ((oldpos.byte.b2 & 0xc0) == 0xc0 && (pos.byte.b2 == 0))
Comment on lines 1115 to 1116
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@BsAtHome BsAtHome Apr 12, 2026

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What exactly is the counter's width and signedness? Masking two bits that must be set looks strange. If this two's complement, one's complement or another format?

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@andypugh andypugh Apr 13, 2026

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The value read from the FPGA is an unsigned 16 bit number. So the positive wrap looks like:
0xFFFF
0x0000
0x0001
...
And the reverse wrap is
0x0001
0x0000
0xFFFF
....

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But that means a simple unsigned or two's complement signed 16 bit value. Then the proper procedure would be the same as for the 32 bit case, but simply with a 16 bit sign-extended starting point:

rtapi_s32 oldval = _initval_;
rtapi_s64 bigcounter = _initval_;
...
rtapi_s32 newval = (((rtapi_s32)(signed char)MSB) << 8) + (LSB & 0xff);
rtapi_s32 delta = oldval - newval;
oldval = newval;
bigcounter += delta;

The first MSB cast makes the value a signed type and then the next rtapi_s32 cast forces sign-extension.

And the assumption is that it does not wrap within a servo period (should be safe with just over 65 MHz at 1ms servo thread).

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@rmu75 rmu75 Apr 13, 2026

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That could be interpreted as signed two's complement or unsigned.

pos.byte.b3++;
pos.l += 0x01000000;
else
if ((oldpos.byte.b2 == 0) && (pos.byte.b2 & 0xc0) == 0xc0)
pos.byte.b3--;
pos.l -= 0x01000000;
Comment on lines 1115 to +1120
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Byte-testing is a bad option. Better to look at the value as a whole and mask unwanted bits using a binary and (&). Then the compiler can sort it out properly.

*(slot->encoder[i].delta) = pos.l - slot->encoder[i].oldreading;
vel = (pos.l - slot->encoder[i].oldreading) /
(read_period * 1e-9 * slot->encoder[i].scale);
Expand All @@ -1135,9 +1137,9 @@ static void read_encoders(slot_data_t *slot)
/* need to properly set the 24->32 bit extension byte */
if ( pos.byte.b2 < 0 ) {
/* going backwards */
pos.byte.b3 = 0xFF;
pos.l |= 0xFFFFFFFFFF000000;
} else {
pos.byte.b3 = 0;
pos.l &= 0x0000000000FFFFFF;
}
oldpos.byte.b3 = pos.byte.b3;
}
Expand Down
35 changes: 24 additions & 11 deletions src/hal/drivers/hal_stg.c
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Expand Up @@ -171,12 +171,14 @@ typedef struct {
typedef struct {
/* counter data */
hal_s32_t *count[MAX_CHANS]; /* captured binary count value */
hal_s32_t offset[MAX_CHANS]; /* offset to hold latched position from index pulse */
rtapi_s32 old_count[MAX_CHANS]; /* used for bit-extension to 32 bits */
hal_s64_t *count64[MAX_CHANS]; /* 64-bit counts */
rtapi_s64 offset[MAX_CHANS]; /* offset to hold latched position from index pulse */
hal_float_t *pos[MAX_CHANS]; /* scaled position (floating point) */
hal_float_t pos_scale[MAX_CHANS]; /* parameter: scaling factor for pos */
hal_bit_t *index_enable[MAX_CHANS]; /* pins for index homing */
hal_bit_t *index_latch[MAX_CHANS]; /* value of the index latch for the axis */
// hal_s32_t check_index[MAX_CHANS]; /* internal marker for two stage index pulse check */
hal_bit_t *index_latch[MAX_CHANS]; /* value of the index latch for the axis */
// hal_s32_t check_index[MAX_CHANS]; /* internal marker for two stage index pulse check */
hal_bit_t *index_polarity[MAX_CHANS]; /* Polarity of index pulse */

/* dac data */
Expand Down Expand Up @@ -528,8 +530,9 @@ static void stg_counter_capture(void *arg, long period)
// read the value without latching, latching was done on index
// remember this as an offset, it will be substracted from nominal
stg->offset[n] = stg_counter_read(n);
/* set index-enable false, so outside knows we found the index, and reset the position */
*(stg->index_enable[n]) = 0;
stg->counts64[n] = 0 - stg->offset[n]; // atp #2331 14/11/25
/* set index-enable false, so outside knows we found the index, and reset the position */
*(stg->index_enable[n]) = 0;

/*
msg = rtapi_get_msg_level();
Expand Down Expand Up @@ -576,10 +579,11 @@ static void stg_counter_capture(void *arg, long period)
if ( *(stg->index_enable[n]) == 1 )
{
// read the value without latching, latching was done on index
// remember this as an offset, it will be substracted from nominal
// remember this as an offset, it will be substracted from nominal
stg->offset[n] = stg_counter_read(n);
/* set index-enable false, so outside knows we found the index, and reset the position */
*(stg->index_enable[n]) = 0;
stg->counts64[n] = 0 - stg->offset[n]; // atp #2331 14/11/25
/* set index-enable false, so outside knows we found the index, and reset the position */
*(stg->index_enable[n]) = 0;

/*
msg = rtapi_get_msg_level();
Expand All @@ -603,10 +607,14 @@ static void stg_counter_capture(void *arg, long period)

for (n = 0; n < num_chan; n++)
{
rtapi_s32 delta;
/* capture raw counts to latches */
stg_counter_latch(n);
/* read raw count, and substract the offset (determined by indexed homing) */
*(stg->count[n]) = stg_counter_read(n) - stg->offset[n];
*(stg->count[n]) = stg_counter_read(n) - stg->offset[n];
// 64-bit index is handled differently
delta = (stg_counter_read(n) - (stg->old_count[n]);
*(stg->count64[n]) += delta;
/* make sure scale isn't zero or tiny to avoid divide error */
if (stg->pos_scale[n] < 0.0) {
if (stg->pos_scale[n] > -EPSILON)
Expand All @@ -616,7 +624,7 @@ static void stg_counter_capture(void *arg, long period)
stg->pos_scale[n] = 1.0;
}
/* scale count to make floating point position */
*(stg->pos[n]) = *(stg->count[n]) / stg->pos_scale[n];
*(stg->pos[n]) = *(stg->count64[n]) / stg->pos_scale[n];
Comment on lines 617 to +627
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@BsAtHome BsAtHome Apr 12, 2026

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Writing a hal pin and reading the same pin just a bit later is very inefficient because the compiler must physically read the value from memory. The volatile modifier prevents caching. However, the value does not change here between the two lines. Therefore, a local intermediary allows the compiler to be more efficient.

This issue is seen all over this and other code, writing and then shortly thereafter again reading same pin.

}
/* done */
return;
Expand Down Expand Up @@ -1435,12 +1443,17 @@ static int export_counter(int num, stg_struct *addr)
msg = rtapi_get_msg_level();
rtapi_set_msg_level( STG_MSG_LEVEL );

/* export pin for counts captured by update() */
/* export pins for counts captured by update() */
retval = hal_pin_s32_newf(HAL_OUT, &addr->count[num],
comp_id, "stg.%d.counts", num);
if (retval != 0) {
return retval;
}
retval = hal_pin_s64_newf(HAL_OUT, &addr->count64[num],
comp_id, "stg.%d.counts64", num);
if (retval != 0) {
return retval;
}
/* export pin for scaled position captured by update() */
retval = hal_pin_float_newf(HAL_OUT, &addr->pos[num],
comp_id, "stg.%d.position", num);
Expand Down
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